Autonomous grain cart dimensioned to fit behind header

ABSTRACT

An autonomous grain cart includes a width less than or equal to a distance from an end of the header of an agricultural vehicle to a lateral side of the agricultural vehicle, wherein the end and the lateral side are on a same longitudinal side of a lateral centerline of the agricultural vehicle, wherein the autonomous grain cart is configured to receive grain from the agricultural vehicle. The autonomous grain cart also includes a controller, comprising a processor and a memory. The autonomous grain cart further includes a drive system communicatively coupled to the controller, wherein the controller is configured to instruct the drive system to propel the autonomous grain cart. The autonomous grain cart also includes a steering system communicatively coupled to the controller, wherein the controller is configured to instruct the steering system to steer the autonomous grain cart.

CROSS REFERENCE TO RELATED APPLICATIONS

This is a continuation of U.S. Provisional Application No. 62/340,921,filed May 24, 2016, entitled “Autonomous Grain Cart Dimensioned to FitBehind Header,” which is incorporated by reference in its entirety forall purposes.

This application is related to co-pending U.S. Provisional ApplicationNo. 62/340,942, filed May 24, 2016, entitled “Grain Cart for ContinuousConveying Agricultural Product,” which is incorporated by reference inits entirety.

BACKGROUND

The present disclosure relates generally to an autonomous grain cartthat conveys agricultural product from an agricultural vehicle to anagricultural product storage tank. In particular, disclosed embodimentsinclude an autonomous grain cart that fits behind a header of theagricultural vehicle while conveying agricultural product from theagricultural vehicle to the grain cart.

Increasing productivity of agricultural operations may be achieved byincreasing efficiency of the agricultural vehicles and/or other machinesinvolved, often resulting in increasing the size of the agriculturalvehicles and/or machines. However, increasing the size of theagricultural vehicles and/or machines involved in a crop productionprocess (e.g., harvesting, picking, etc.) typically increases theacquisition and/or operational costs of the vehicles and/or machines.Additionally, the larger agricultural vehicles and/or machines may bedifficult to transport due to the size and/or weight of thevehicle/machine. The larger and heavier agricultural vehicles andmachines may also compact soil and when traveling through a field,resulting in a reduced crop yield. Furthermore, maintenance operationsmay have greater consequences and impact when the agricultural vehiclesand/or machines are larger, as an entire crop production process may bemore significantly affected until the equipment is returned tooperation.

BRIEF DESCRIPTION

Certain embodiments commensurate in scope with the present disclosureare summarized below. These embodiments are not intended to limit thescope of the disclosure, but rather these embodiments are intended onlyto provide a brief summary of possible forms of the disclosure. Indeed,the disclosure may encompass a variety of forms that may be similar toor different from the embodiments set forth below.

In a first embodiment, a system for continuously conveying agriculturalproduct includes an agricultural vehicle comprising a header configuredto harvest agricultural product from a field. The system also includes aplurality of autonomous grain carts configured to receive theagricultural product from the agricultural vehicle, wherein eachautonomous grain cart of the plurality of autonomous grain carts has awidth less than or equal to a distance from an end of the header of theagricultural vehicle to a lateral side of the agricultural vehicle,wherein the end and the lateral side are on a same longitudinal side ofa lateral centerline of the agricultural vehicle. Each autonomous graincart of the plurality of autonomous grain carts includes a controllerincluding a processor and a memory. The autonomous grain cart alsoincludes a drive system communicatively coupled to the controller,wherein the controller is configured to instruct the drive system topropel the autonomous grain cart. The autonomous grain cart furtherincludes a steering system communicatively coupled to the controller,wherein the controller is configured to instruct the steering system tosteer the autonomous grain cart.

In a second embodiment, an autonomous grain cart includes a width lessthan or equal to a distance from an end of the header of an agriculturalvehicle to a lateral side of the agricultural vehicle, wherein the endand the lateral side are on a same longitudinal side of a lateralcenterline of the agricultural vehicle, wherein the autonomous graincart is configured to receive grain from the agricultural vehicle. Theautonomous grain cart also includes a controller, comprising a processorand a memory. The autonomous grain cart further includes a drive systemcommunicatively coupled to the controller, wherein the controller isconfigured to instruct the drive system to propel the autonomous graincart. The autonomous grain cart also includes a steering systemcommunicatively coupled to the controller, wherein the controller isconfigured to instruct the steering system to steer the autonomous graincart.

In a third embodiment, a system for continuously conveying agriculturalproduct including an agricultural vehicle that includes a headerconfigured to harvest agricultural product from a field. The system alsoincludes a plurality of autonomous grain carts, wherein each autonomousgrain cart of the plurality of autonomous grain carts has a width lessthan or equal to a distance from an end of the header of theagricultural vehicle to a lateral side of the agricultural vehicle,wherein the end and the lateral side are on a same longitudinal side ofa lateral centerline of the agricultural vehicle. Each autonomous graincart of the plurality of autonomous grain carts includes a controllerthat includes a processor and a memory. Each autonomous grain cart alsoincludes a drive system communicatively coupled to the controller,wherein the controller is configured to instruct the drive system topropel the autonomous grain cart. Each autonomous grain cart furtherincludes a steering system communicatively coupled to the controller,wherein the controller is configured to instruct the steering system tosteer the autonomous grain cart. The system further includes anagricultural product storage tank configured to store the agriculturalproduct. Each autonomous grain cart of the plurality of autonomous graincarts is configured to receive the agricultural product from theagricultural vehicle and deliver the agricultural product to theagricultural product storage tank.

DRAWINGS

These and other features, aspects, and advantages of the presentinvention will become better understood when the following detaileddescription is read with reference to the accompanying drawings in whichlike characters represent like parts throughout the drawings, wherein:

FIG. 1 is a diagram of an agricultural vehicle, in accordance with anembodiment of the present disclosure

FIG. 2 is a diagram of a harvesting map for the agricultural vehicle ofFIG. 1, in accordance with an embodiment of the present disclosure;

FIG. 3 is a diagram of an autonomous grain cart, in accordance with anembodiment of the present disclosure;

FIG. 4 is a perspective view of the autonomous grain cart of FIG. 3positioned behind a header of the agricultural vehicle of FIG. 1, inaccordance with an embodiment of the present disclosure;

FIG. 5 is a diagram of a system for continuously conveying agriculturalproduct using multiple autonomous grain carts of FIG. 3 with theagricultural vehicle of FIG. 1, in accordance with an embodiment of thepresent disclosure;

FIG. 6 is a perspective view of the autonomous grain carts of FIG. 3positioned behind the header of the agricultural vehicle of FIG. 1, inaccordance with an embodiment of the present disclosure; and

FIG. 7 is a flow diagram of a method for continuously conveyingagricultural product from the agricultural vehicle of FIG. 1 to anagricultural product storage tank, which is performed by the autonomousgrain cart of FIG. 3, in accordance with an embodiment of the presentdisclosure.

DETAILED DESCRIPTION

One or more specific embodiments of the present disclosure will bedescribed below. In an effort to provide a concise description of theseembodiments, all features of an actual implementation may not bedescribed in the specification. It should be appreciated that in thedevelopment of any such actual implementation, as in any engineering ordesign project, numerous implementation-specific decisions must be madeto achieve the developers' specific goals, such as compliance withsystem-related and business-related constraints, which may vary from oneimplementation to another. Moreover, it should be appreciated that sucha development effort might be complex and time consuming, but wouldnevertheless be a routine undertaking of design, fabrication, andmanufacture for those of ordinary skill having the benefit of thisdisclosure.

When introducing elements of various embodiments of the presentdisclosure, the articles “a,” “an,” “the,” and “said” are intended tomean that there are one or more of the elements. The terms “comprising,”“including,” and “having” are intended to be inclusive and mean thatthere may be additional elements other than the listed elements. Anyexamples of operating parameters and/or environmental conditions are notexclusive of other parameters/conditions of the disclosed embodiments.

It may be desirable to use autonomous grain carts to convey agriculturalproduct from an agricultural vehicle to an agricultural product storagetank during crop production processes (e.g., harvesting, picking, etc.)to increase crop production efficiency. Using an autonomous grain cartmay reduce operator and vehicle costs. For example, replacing anoperator-driven tractor that hauls a grain cart between an agriculturalvehicle and an agricultural product storage tank with an autonomousgrain cart may reduce operator costs. Additionally, the autonomous graincart may operate without the use of a separate tractor, thereby reducingvehicle costs. Moreover, tractors may not be able to fit behind a headerof the agricultural vehicle. For example, when positioned between theagricultural vehicle and a crop area to receive grain, the tractor, dueto its width, would travel through the crop area, reducing the cropyield. Advantageously, the autonomous grain cart may be dimensioned suchthat the grain cart fits behind a header of the agricultural vehicle,thereby enabling the grain cart to travel alongside the agriculturalvehicle on the crop side of the agricultural vehicle and increaseharvesting efficiency. Additionally, harvesting patterns may be utilizedwithout regard to the limitation of placing the grain cart on only theharvested side of the agricultural vehicle. As such, the agriculturalvehicle may make 180 degree turns (e.g., when transitioning from one rowof the harvesting pattern to another) while continuing to unload grainbecause of the ability of the grain cart to fit behind the header on thecrop side of the agricultural vehicle. Moreover, harvesting headlandsfirst (e.g., before harvesting crop rows) may be avoided, if the fieldincludes enough space for the agricultural vehicle and the grain cart toturn at the edge of the field. Reducing the travel path of theagricultural vehicle in this manner may increase crop productionefficiency. With increased access to the agricultural vehicle, the sizeof the grain carts and/or an internal storage tank of the agriculturalvehicle may be reduced, resulting in less weight of the vehicles, andthus less soil compaction during operation. Accordingly, the disclosedembodiments include using an autonomous grain cart to conveyagricultural product from an agricultural vehicle to an agriculturalproduct storage tank, in which the grain is dimensioned to fit behind aheader of the agricultural vehicle. In particular, one embodiment of thepresent disclosure includes a system for continuously conveyingagricultural product includes an agricultural vehicle comprising aheader configured to harvest agricultural product from a field. Thesystem also includes a plurality of autonomous grain carts configured toreceive the agricultural product from the agricultural vehicle, whereineach autonomous grain cart of the plurality of autonomous grain cartshas a width less than or equal to a distance from an end of the headerof the agricultural vehicle to a lateral side of the agriculturalvehicle, wherein the end and the lateral side are on a same longitudinalside of a lateral centerline of the agricultural vehicle. Eachautonomous grain cart of the plurality of autonomous grain cartsincludes a controller including a processor and a memory. The autonomousgrain cart also includes a drive system communicatively coupled to thecontroller, wherein the controller is configured to instruct the drivesystem to propel the autonomous grain cart. The autonomous grain cartfurther includes a steering system communicatively coupled to thecontroller, wherein the controller is configured to instruct thesteering system to steer the autonomous grain cart. It should be notedthat although an autonomous grain cart is shown and described to operatein an agricultural setting, the present disclosure is not limited assuch, but may relate to other vehicles, such as construction vehicles,military vehicles, storage vehicles, industrial vehicles, miningvehicles, and so forth.

FIG. 1 is a diagram of an agricultural vehicle 10 (e.g., a combine orharvester), in accordance with an embodiment of the present disclosure.The combine 10 includes a header 12, which may include one or moregathering implements, such as a crop divider, a reel or pickup reel, acutter bar, a cutting component, or the like, that are configured togather crops. The combine 10 also includes a storage tank 14 configuredto store agricultural product (e.g., grain) collected by the header 12.The present disclosure refers to the agricultural product gathered fromthe crops and stored in the storage tank 14 as grain, but it should beunderstood that the agricultural product may be any suitableagricultural product collected from crops and/or a field. As the combine10 travels through the field and collects more agricultural product, thestorage tank 14 fills. The combine 10 includes a side pipe or unloader16 configured to transfer the grain to a vehicle (e.g., a grain cart),trailer, or a storage tank, for example.

The combine 10 includes a control system 17 having a controller 18. Thecontrol system 17 may be configured to output a current location of thecombine 10, output a current speed of the combine 10, establish aharvesting pattern, or any combination thereof. The controller 18includes a processor 20 (e.g., a microprocessor) that may executesoftware, such as software for controlling the combine 10. Moreover, theprocessor 20 may include multiple microprocessors, one or more“general-purpose” microprocessors, one or more special-purposemicroprocessors, and/or one or more application specific integratedcircuits (ASICS), or some combination thereof. For example, theprocessor 20 may include one or more reduced instruction set (RISC)processors. The controller 18 includes a memory device 22 that may storeinformation such as control software, look up tables, configurationdata, etc. In some embodiments, the controller 18 may be coupled to thememory device 22. The memory device 22 may include a volatile memory,such as random access memory (RAM), and/or a nonvolatile memory, such asread-only memory (ROM). The memory device 22 may store a variety ofinformation and may be used for various purposes. For example, thememory device 22 may store processor-executable instructions (e.g.,firmware or software) for the processor 20 execute, such as instructionsfor controlling the combine 10. In some embodiments, the memory device22 is one or more tangible, non-transitory, machine-readable media thatmay store machine-readable instructions for the processor 20 to execute.The memory device 22 may include ROM, flash memory, a hard drive, or anyother suitable optical, magnetic, or solid-state storage medium, or acombination thereof. The memory device 22 may store data (e.g., positiondata, identification data, etc.), instructions (e.g., software orfirmware for controlling the agricultural vehicle, etc.), any othersuitable data, or a combination thereof.

The controller 18 is communicatively coupled to a location device 24that is configured to determine a position of the combine 10. As will beappreciated, the location device 24 may include any suitable systemconfigured to determine the position of the combine 10, such as a globalpositioning system (GPS), for example. In certain embodiments, thelocation device 24 may be configured to determine the position of thecombine 10 relative to a fixed point within the field (e.g., via a fixedradio transceiver). Accordingly, the location device 24 may beconfigured to determine the position of the combine 10 relative to afixed global coordinate system (e.g., via the GPS) or a fixed localcoordinate system. In some embodiments, the location device 24 mayenable the controller 18 to determine a speed of the combine 10 duringoperation.

The controller 18 is communicatively coupled to a communication device26 that enables the control system 17 to send and receive signals over acommunication network, e.g., a wireless communication network. Inparticular, the communication device 26 enables the control system 17 tooutput information about the combine 10, such as location informationreceived from the location device 24.

The controller 18 is communicatively coupled to one or more sensors 28,such as a speed sensor, a weight sensor, a fill sensor, etc. The speedsensor may enable the controller 18 to determine a speed of the combine10 during operation. The weight sensor may enable the controller 18 todetermine a weight of the combine 10 and contents of the storage tank14. The fill sensor may enable the controller 18 to determine a depth ofthe contents (e.g., grain) of the storage tank 14.

FIG. 2 is a diagram of a harvesting map 30 for the combine of FIG. 1, inaccordance with an embodiment of the present disclosure. The harvestingmap 30 includes a crop area 32 to be harvested and a headland area 34that may be harvested prior to the crop area being harvested toestablish a turning space for the combine. The harvesting map 30 alsoincludes a harvesting pattern or route 36 for the combine to follow. Theharvesting pattern 36 may be generated based on an efficient path oftravel for the combine as it collects gain from the crop area 32. Insome embodiments, the harvesting map 30 may include expected locationsof the combine at various times, based at least in part on the speed ofthe combine.

FIG. 3 is a diagram of an autonomous grain cart 50, in accordance withan embodiment of the present disclosure. It should be appreciated thatwhile the illustrated embodiment includes the autonomous grain cart 50,the present disclosure contemplates any vehicle suitable fortransporting material, such as a hauling vehicle, transport vehicle,delivery vehicle, loading and/or unloading vehicle, and the like. Asillustrated, the autonomous grain cart 50 is a grain cart.

The grain cart 50 includes a control system 51 having a controller 52.The controller 52 includes a processor 54 (e.g., a microprocessor) thatmay execute software, such as software for controlling the grain cart50. Moreover, the processor 54 may include multiple microprocessors, oneor more “general-purpose” microprocessors, one or more special-purposemicroprocessors, and/or one or more application specific integratedcircuits (ASICS), or some combination thereof. For example, theprocessor 54 may include one or more reduced instruction set (RISC)processors. The controller 52 includes a memory device 56 that may storeinformation such as control software, look up tables, configurationdata, etc. In some embodiments, the controller 52 may be coupled to thememory device 56. The memory device 56 may include a volatile memory,such as random access memory (RAM), and/or a nonvolatile memory, such asread-only memory (ROM). The memory device 56 may store a variety ofinformation and may be used for various purposes. For example, thememory device 56 may store processor-executable instructions (e.g.,firmware or software) for the processor 54 execute, such as instructionsfor controlling the grain cart 50. In some embodiments, the memorydevice 56 is a tangible, non-transitory, machine-readable-medium thatmay store machine-readable instructions for the processor 54 to execute.The memory device 56 may include ROM, flash memory, a hard drive, or anyother suitable optical, magnetic, or solid-state storage medium, or acombination thereof. The memory device 56 may store data (e.g., positiondata, identification data, etc.), instructions (e.g., software orfirmware for controlling the agricultural vehicle, etc.), any othersuitable data, or a combination thereof. For example, the memory device56 may store the harvesting map and/or the harvesting pattern.

The controller 52 is communicatively coupled to a location device 58that is configured to determine a position of the grain cart 50. As willbe appreciated, the location device 58 may include any suitable systemconfigured to determine the position of the grain cart 50, such as aglobal positioning system (GPS), for example. In certain embodiments,the location device 58 may be configured to determine the position ofthe grain cart 50 relative to a fixed point within the field (e.g., viaa fixed radio transceiver). Accordingly, the grain cart 50 may beconfigured to determine the position of the grain cart 50 relative to afixed global coordinate system (e.g., via the GPS) or a fixed localcoordinate system. In some embodiments, the location device 58 mayenable the controller 52 to determine a speed of the grain cart 50during operation.

The controller 52 is communicatively coupled to one or more sensors 62,such as a speed sensor, a proximity sensor, a terrain sensor, a weightsensor, a fill sensor, etc.

The speed sensor may enable the controller 52 to determine a speed ofthe grain cart 50 during operation. The weight sensor may enable thecontroller 52 to determine a weight of the grain cart 50 and contents ofthe grain cart 50. The fill sensor may enable the controller 52 todetermine a depth of the contents (e.g., grain) of the grain cart 50.The proximity sensor may enable the controller 52 to detect nearbyobjects or vehicles. The terrain sensor may enable the controller 52 todetermine aspects of the terrain under and/or adjacent to the grain cart50. For example, the terrain sensor may enable the grain cart 50 todetect rough and bumpy terrain, smooth terrain, muddy terrain, and thelike. In some embodiments, the terrain sensor is configured to output asignal indicative of at least one property of terrain to the autonomousgrain cart 50. The weight sensor may enable the controller 52 todetermine a weight of the grain cart 50 and its contents. The fillsensor may enable the controller 52 to determine a depth of the contents(e.g., grain) of the grain cart 50.

The controller 52 is communicatively coupled to a communication device60 that enables the controller 52 to send and receive information over acommunication network, such as a wireless communication network. Forexample, the communication device 60 may enable the controller 52 toreceive information about the combine, such as location informationreceived from the location device 24 of the combine. Advantageously, theuse of the autonomous grain carts 50 may reduce operator and vehiclecosts, as when compared to collecting grain via an operator-driventractor coupled to a trailer.

The controller 52 is communicatively coupled to a drive system 55configured to propel, accelerate, and/or decelerate the autonomous graincart 50. The drive system 55 may include a motor and/or braking system.The controller 52 is also communicatively coupled to a steering system57 configured to to steer, navigate, and/or orient the autonomous graincart 50.

The grain cart 50 may be dimensioned such that the grain cart 50 may fitbetween an end of the header of the combine and a closer, nearer, orproximal lateral side of the combine. FIG. 4 is a prospective view ofthe autonomous grain cart 50 of FIG. 3 positioned behind the header 12of the combine 10 of FIG. 1, in accordance with an embodiment of thepresent disclosure. Selecting a width 61 of the grain cart 50 that isless than or equal to a distance 63 from an end 64 of the header 12 to alateral side 66 of the combine 10, wherein the end and the lateral sideare on a same longitudinal side of a lateral centerline of the combine10, enables the grain cart 50 to travel alongside the combine 10 on thecrop side of the combine 10 (as well as the harvested side of thecombine 10). Advantageously, the grain cart 50 may be dimensioned suchthat the grain cart 50 fits behind the header 12 of the combine 10,thereby enabling the grain cart 50 to travel alongside the combine 10 onthe crop side of the combine 10 and increase harvesting efficiency.Additionally, harvesting patterns may be utilized without regard to thelimitation of placing the grain cart 50 on only the harvested side ofthe combine 10. As such, the combine 10 may make 180 degree turns (e.g.,when transitioning from one row of the harvesting pattern to another)while continuing to unload grain because of the ability of the graincart 50 to fit behind the header 12 on the crop side of the combine 10.Moreover, harvesting headlands first (e.g., before harvesting crop rows)may be avoided, if the field includes enough space for the combine 10and the grain cart 50 to turn at the edge of the field. Reducing thetravel path of the combine 10 in this manner may increase cropproduction efficiency. With increased access to the combine 10, the sizeof the grain carts 50 and/or an internal storage tank 14 of the combine10 may be reduced, resulting in less weight of the vehicles, and thusless soil compaction during operation.

FIG. 5 is a diagram of a system 70 for continuously conveying grainusing multiple grain carts of FIG. 3 with the combine 10 of FIG. 1, inaccordance with an embodiment of the present disclosure. The system 70may include two, three, four, five, or more grain carts. As illustrated,the combine 10 unloads grain from the storage tank 14 to a loading graincart 72 via the side pipe 16. The control system of the grain cartenables the loading grain cart 72 to match and maintain a speedapproximately equal to the speed of the combine 10, such that thecombine may continue to harvest grain from the crop area 32 and followthe harvesting pattern 36 without interruption. As used in the presentdisclosure, the term “continuously” means conveying grain unloaded fromthe combine 10 such that the delay from unloading to a first grain cartto unloading to a second grain cart is reduced and relatively short. Forexample, the delay may be between approximately 5 seconds and 5 minutes(e.g., 5 seconds, 10 seconds, 30 seconds, 1 minute, 2 minutes, etc.). Insome embodiments, the loading grain cart 72 may use one or moreproximity sensors to enable the loading grain cart 72 to match andmaintain speed approximately equal to the speed of the combine 10.

When the control system of the loading grain cart 72 determines that athreshold weight and/or fill depth of the loading grain cart 72 is metor exceeded, the control system may send a signal (e.g., via thecommunication device) indicating that the threshold weight and/or filldepth has been met or exceeded, and/or that the loading grain cart 72 isready to move to the agricultural product storage tank 74 (or anysuitable delivery site). The signal may be received by the communicationdevices of the combine 10 and/or the other grain carts. Furtherreferences to sending or receiving signals by a grain cart or thecombine 10 should be understood that the respective communication deviceof the grain cart or the combine 10 is sending or receiving the signals.

The combine 10 may send a signal indicating when the combine 10 hasceased unloading grain. In some embodiments, a queued and unloaded graincart 86 may move into position immediately behind the loading grain cart72 (e.g., which the loading grain cart 72 is being loaded) and send asignal indicating that the unloaded grain cart 86 is in position. Assuch, in some embodiments, the combine 10 may continue loading (from theloading grain cart 72 to the unloaded grain cart 86) withoutinterruption. The number of queued and unloaded grain carts 86 followingthe combine 10 may be zero, one, two, three, or more, and may bedetermined by the control system of a grain cart, the grain cartscollectively, the combine 10, or a combination thereof. The number ofqueued and unloaded grain carts 86 following the combine 10 may dependat least in part on the rate of unloading of the combine 10, a weightand/or capacity of each grain cart, or any combination thereof.

Upon receiving the signal indicating that the combine 10 has ceasedunloading grain and/or the unloaded grain cart 86 is in position, thenow-loaded grain cart 72 may move to the agricultural product storagetank 74. The grain cart 72 may position itself at a location 74 thatenables the grain cart 72 to unload grain to the agricultural productstorage tank 78. In some embodiments, there may be more than onedelivery site 74 for the grain cart 72 (and other loaded grain carts 76)to deliver the grain to multiple agricultural storage tanks 78. Asillustrated, a trailer 79 includes the agricultural storage tank 78. Atruck 77 may tow the trailer 79 away when full, and provide a newtrailer 79.

The controller of the loading grain cart 72 may determine a route 80and/or speed to travel to the agricultural product storage tank 78 basedat least in part on a current location of the loading grain cart 72,current locations of the other grain carts, a total number of graincarts, the location of the agricultural product storage tank 78, theterrain along the route, the rate of unloading of the combine 10, therate of unloading of each grain cart to the agricultural product storagetank 78, the speed of the combine 10 while harvesting the crop area 32,the maximum speed of each grain cart (loaded and unloaded), the maximumgrain cart turn rate, the maximum grain cart turn angle, or anycombination thereof.

The current location of the loading grain cart 72 may be determined bythe location device of the loading grain cart 72. The current locationsof the other grain carts may be determined by the location devices ofthe other grain carts, respectively, and communicated by other graincarts to, for example, determine the route 80 and/or speed to travel tothe agricultural product storage tank 78. The location of theagricultural product storage tank 78 may be stored in the memory of theloading grain cart 72. The terrain along the route may be determined bythe terrain sensor of the loading grain cart 72 and/or the previousloading grain cart. The rate of unloading of the combine 10 may bedetermined by the controller of the combine 10 and communicated by thecombine 10 to each grain cart. The rate of unloading of each grain cartto the agricultural storage tank 78 may be determined by the controllerof each grain cart, and sent and received by each grain cart to, forexample, determine the route 80 and/or speed to travel to theagricultural product storage tank 78. The speed of the combine 10 whileharvesting the crop area 32 may be determined by the controller of thecombine 10 and communicated by the combine 10 to each grain cart. Thespeed of each grain cart (loaded and unloaded) may be determined by thecontroller of each grain cart, and sent and received by each grain cartto, for example, determine the route 80 and/or speed to travel to theagricultural product storage tank 78.

In some embodiments, the controller of the loading grain cart 72 maydetermine the route 80 and/or speed to travel to the agriculturalproduct storage tank 78 based at least in part on the current locationsof the other grain carts to avoid colliding with the other grain cartsand/or to establish a more collectively efficient route among the graincarts. In some embodiments, the controller of the loading grain cart 72may determine the route 80 and/or speed to travel to the agriculturalproduct storage tank 78 based at least in part on the total number ofgrain carts because the number of grain carts may affect the route 80and/or speed to travel. In some embodiments, the controller of theloading grain cart 72 may determine the route 80 and/or speed to travelto the agricultural product storage tank 78 based at least in part onthe terrain of the route 80 because traveling on rough or bumpy terrainmay be slower and/or use more fuel, and the controller of the loadinggrain cart 72 may establish a faster and/or more fuel efficient route byavoiding the rough or bumpy terrain, even though the route may belonger. In some embodiments, the controller of the loading grain cart 72may determine the route 80 and/or speed to travel to the agriculturalproduct storage tank 78 based at least in part on the rate of unloadingof the combine 10, the rate of unloading of each grain cart to theagricultural storage tank 78, the speed of the combine 10 whileharvesting the crop area 32, the maximum speed of each grain cart(loaded and unloaded), or a combination thereof, such that thecontroller of the loading grain cart 72 determines when and/or where theloading grain cart 72 will be loaded next, and determines a route thatenables the loading grain cart 72 to arrive at the loading location ator before that time.

In some embodiments, the route 80 and/or the speed to travel may beupdated or modified based on the aforementioned factors. For example,the controller of a loaded grain cart 76 may determine that one of theother grain carts has stopped moving (e.g., due to engine failure) basedon communication with the stopped grain cart, a signal from theproximity sensor of the loaded grain cart 76, or a combination thereof.The control system of the loaded grain cart 76 may update or modify theroute 80 and/or speed to avoid the stopped grain cart and/or tocompensate for the loss of the stopped grain cart. The route 80 and/orthe speed to travel may be updated asynchronously and/or synchronously.For example, the route 80 and/or the speed to travel may be updatedasynchronously based on the signal from the proximity sensor of theloaded grain cart 76. The route 80 and/or the speed to travel may alsobe updated synchronously. For example, the controller of the loadedgrain cart 76 may query the other grain carts as to their locations,statuses, or the like, for periodically (e.g., every second, every fiveseconds, every ten seconds, etc.). If there is an indication that theroute 80 and/or speed to travel should be modified (e.g., a grain carthas stopped, has slowed, has a reduced turning radius, etc.), thecontroller of the loaded grain cart 76 may do so.

In some embodiments, a communications base station may facilitatecommunication between each grain cart and/or the combine 10. Forexample, the communications base station may be located on the truck 77.In some embodiments, some or all of the data related to the combine 10,the grain carts, the agricultural product storage tank, the harvestingmap, and/or the harvesting pattern may be analyzed and stored in amemory of the communications base station. For example, a wirelesscomputing device that is capable of communicating with the communicationdevices of the grain carts and/or the combine 10 may determine and/orstore some or all of the data to reduce processing time by the graincarts/combine 10 and/or to reduce the data stored by the memory devicesof the grain carts/combine 10. The wireless computing device may thensend some or all of the data to the communication devices of the graincarts and/or the communication device of the combine 10. As should beappreciated, the communication devices of the grain carts and/or thecommunication device of the combine 10 may be communicatively coupled tothe communications base station, and any and/or all communicationsreferred to in the present disclosure may be sent and received by thecommunications base station instead of the grain carts and/or thecombine 10, to reduce communications load on the communication devicesof the grain carts and/or the combine 10. In some embodiments, thecommunications base station may plan and/or direct (e.g., plan and/ordirect the speed, routes, and the like, of) the combine 10 and/or thegrain carts.

The threshold weight or threshold fill depth may be a weight or filldepth that is determined to enable the grain carts to operateefficiently without causing bottlenecks or gaps in the unloading anddelivery of grain. For example, the threshold weight or threshold filldepth may be a weight or fill depth that enables the grain carts tocontinuously convey grain from the combine 10 without having the combine10 store the grain in its storage tank 14 or wait for a grain cart. Thethreshold weight or threshold fill depth may be based at least in parton a weight and/or volumetric capacity of each grain cart, the weightand/or volumetric capacity of the combine 10, the rate of unloading ofthe combine 10, the rate of unloading of each grain cart to theagricultural product storage tank 78, the speed of the combine 10 whileharvesting the crop area 32, the maximum speed of each grain cart(loaded and unloaded), the maximum grain cart turn rate, the maximumgrain cart turn angle, or any combination thereof. For example, thethreshold fill depth of each grain cart may be between 30 to 95 percentof the volumetric capacity of the grain cart (e.g., 50, 60, 70, 80, 90percent, etc.). The threshold weight of each grain cart may be 30 to 95percent of a weight capacity of the grain cart (e.g., 50, 60, 70, 80, 90percent, etc.). As such, determining when to unload the grain cart maybe based on threshold weight or threshold fill depth. For example, thecontroller of the grain cart may determine that the grain cart should beunloaded when the volumetric capacity of the grain cart is 70 percent orwhen the weight capacity is 70 percent. In some embodiments, thethreshold weight or threshold fill depth of the grain cart may be acombination of the threshold weight and threshold fill depth. Forexample, the controller of the grain cart may determine that the graincart should be unloaded when the volumetric capacity of the grain cartis 70 percent and when the weight capacity is 70 percent. In someembodiments, determining when to stop unloading the combine 10 may bebased on the threshold weight or threshold fill depth of the combine 10may be a minimum threshold. For example, when the storage tank 14 of thecombine 10 is 5, 10, or 15 percent full, the combine 10 may ceaseunloading and send a signal indicating that the loading grain cart 76may proceed to the agricultural product storage tank 78.

The weight and/or fill depth of each grain cart may be determined by thecontroller of each grain cart (e.g., via a weight and/or fill sensor),stored in the memory of each grain cart, and/or sent to the other graincarts. The weight and/or fill depth of the combine 10 may be determinedby the controller of the combine 10 (e.g., via a weight and/or fillsensor), stored in the memory of the combine 10, and/or sent to eachgrain cart.

When a loaded grain cart arrives at the agricultural product storagetank 78, the loaded grain cart may stop and send a signal that theloaded grain cart has arrived. In some instances, the loaded grain cartmay arrive and there may be one or more other loaded grain carts waitingto deliver grain. As such, the loaded grain cart may queue behind theother loaded grain carts. Once the loaded grain cart is in position todeliver the grain (e.g., the loaded grain cart is at the front of thequeue), the loaded grain cart 81 may send a signal indicating that theloaded grain cart 81 is in position. Delivery processes and/or machinerymay unload the grain cart 81 and deliver grain to, for example, theagricultural product storage tank 78 of the trailer 79.

Once a grain cart has delivered the grain and is empty, the unloadedgrain cart 82 may send a signal indicating that the unloaded grain cart82 is empty and ready to receive grain. The unloaded grain cart 82 mayproceed directly to the combine 10. In addition, the unloaded grain cart82 may proceed to a waiting area (e.g., a portion of the field oroutside the field designated for grain carts to park) until the unloadedgrain cart 82 receives a signal (e.g., from the loading grain cart 72)indicating that the loading grain cart 72 is ready to move to theagricultural product storage tank 78 and/or that the queued and unloadedgrain cart 86 immediately behind the loading grain cart 72 is inposition for the combine 10 to unload grain. The unloaded grain cart 82may then move to the combine 10. In some instances, the unloaded graincart 82 may be in a queue with the other unloaded grain carts that arealso empty and ready to receive grain. If the unloaded grain cart 82 isat the front of the queue, and the unloaded grain cart 82 receives asignal (e.g., from the loading grain cart 72) indicating that theloading grain cart 72 is ready to move to the agricultural productstorage tank 78 and/or that the queued and unloaded grain cart 86immediately behind the loading grain cart 72 is in position for thecombine 10 to unload grain (such that there is no interruption betweengrain carts from the viewpoint of the combine 10), the unloaded graincart 82 may move to the combine 10. The unloaded grain cart 82 may senda signal indicating that the unloaded grain cart 82 is moving to thecombine 10.

The unloaded grain cart 82 may determine a route 84 and/or speed totravel to the combine 10 based at least in part on a current location ofthe unloaded grain cart 82, a current location of the combine 10, theharvesting map, the location of the agricultural product storage tank78, the terrain along the route, the rate of unloading of the combine10, the rate of unloading of each grain cart to the agricultural productstorage tank 78, the speed of the combine 10 while harvesting the croparea 32, the maximum speed of each grain cart (loaded and unloaded), themaximum grain cart turn rate, the maximum grain cart turn angle, or anycombination thereof. The current location of the combine 10 may bedetermined by the location device of the combine 10 and sent by thecombine 10 to each grain cart. In some embodiments, the route 84 and/orspeed to travel may be determined based at least in part on the currentlocation of the unloaded grain cart 82, the current location of thecombine 10, the harvesting map, the speed of the combine 10, the maximumspeed of the unloaded grain cart 82, the maximum grain cart turn rate,the maximum grain cart turn angle, or a combination thereof, therebyenabling the controller of the unloaded grain cart 82 may predict orestimate a future location of the combine 10 at the time of rendezvous.In some embodiments, the route 84 and/or speed to travel may bedetermined such that an unloaded grain cart 86 arrives at the combine 10before the threshold weight or threshold fill depth of the currentlyloading grain cart 72 and/or the threshold weight or threshold filldepth of the combine 10 has been met.

In some embodiments, the route 84 and/or speed to travel may be updatedor modified based at least in part on the aforementioned factors.Similarly, the predicted or estimated location of the combine 10 may beupdated or modified based at least in part on at one of theaforementioned factors. For example, the controller of an unloaded graincart 82 may determine that the combine 10 has changed speed or deviatedfrom the route (e.g., as provided by the harvesting map). The controllerof the unloaded grain cart 82 may update or modify the route 84 and/orthe speed to account for the different estimated future location of thecombine 10. The route 84 and/or the speed may be updated asynchronouslyor synchronously, as previously discussed.

Upon arriving at the location of the combine 10, the unloaded grain cartmay queue behind the loading grain cart 72 while the combine 10 unloadsgrain from the storage tank 14 to the loading grain cart 72. In someinstances, the unloaded grain cart may queue behind one or more queuedand unloaded grain carts 86. The now queued grain cart may send a signalthat the grain cart is queued and following the combine 10, the loadinggrain cart 72, and any other queued grain carts. When the queued graincart receives a signal indicating that the loading grain cart 72 hasbeen loaded (e.g., such that the threshold weight or the threshold filldepth of the loading grain cart 72 is met) and/or is moving toward theagricultural product storage tank 78, the queued grain cart may moveinto position to be loaded by the combine 10 or advance in the queue.The queued grain cart may send a signal indicating that the queued graincart has moved into position to be loaded by the combine 10 or advancedin the queue. In this manner, the system 70 may ensure that the combine10 harvests the crop area 32 without stopping to wait for the next graincart to arrive.

As such, the possibility of the storage tank 14 becoming completelyfull, such that harvesting operations are suspended, is substantiallyreduced or eliminated. In addition, the storage tank 14 of the combine10 may thus be reduced in size and weight, thereby reducing soilcompaction as the combine 10 traverses the field. The overall result issignificantly increased crop productivity. Using the multiple graincarts in the continuous system 70 may result in smaller and lightergrain carts. The smaller grain carts further reduce soil compaction asthe grain carts traverse the field, thereby increasing cropproductivity.

FIG. 6 is a perspective view of the unloaded grain cart 86 queued behindthe loading grain cart 72, in which both grain carts 86, 72 aredimensioned to fit behind the header 12 of the combine 10 of FIG. 1, inaccordance with an embodiment of the present disclosure. As illustrated,both grain carts 86, 72 are dimensioned such that the respective widths61 are less than or equal to the distance 63 from an end 64 of theheader 12 to a closer lateral side 66 of the combine 10. As such, eachgrain cart 86, 72 may be dimensioned such that each grain cart 86, 72fits behind the header 12 of the combine 10, thereby enabling each graincart 86, 72 to travel alongside the combine 10 on the crop side of thecombine 10 and increase harvesting efficiency. Once the threshold weightor the threshold fill depth of the loading grain cart 72 and/or thethreshold weight or the threshold fill depth of the combine 10 is met,the loading grain cart 72 may proceed to the agricultural productstorage tank, and the unloaded grain cart 86 may take the place of theloading grain cart 72. Thus, the delay from unloading to a first graincart 72 to unloading to a second grain cart 86 may be reduced, therebyincreasing overall crop production efficiency. In some embodiments, thecombine 10 may stop unloading grain during the delay. During the delay,the grain may be stored in the storage tank 14 while the first graincart 72 moves back from the combine 10 and proceeds to the agriculturalproduct storage tank and the second grain cart 86 moves into position toreceive the unloading grain. In some embodiments, the transition timefrom the first grain cart 72 to the second grain cart 86 may be short.For example, when the threshold weight or threshold fill depth of theloading grain cart 72 and/or the threshold weight or threshold filldepth of the combine 10 is met, the first grain cart 72 may move forwardtoward the header 12. The second grain cart 86 may move into positionimmediately behind the first grain cart 72. In this manner, thetransition between the grain carts 72, 86 may be quick, and the combine10 may continue unloading grain without a substantial interruption. Thefirst grain cart 72 may proceed to the agricultural product storage tankonce the grain cart is able to without traveling through the crop area32 (e.g., after a 180 degree turn by the combine 10 as illustrated inFIG. 2).

FIG. 7 is a flow diagram of a method 100 for continuously conveyinggrain from the combine of FIG. 1 to the agricultural product storagetank, which is performed by a grain cart of FIG. 3, in accordance withan embodiment of the present disclosure. The grain cart controllermaintains (block 102) the speed of the grain cart with the combine atleast while the combine unloads grain to the grain cart. The grain cartcontroller determines (block 104) when a threshold weight or thresholdfill depth of the grain cart is met. For example, the grain cartcontroller may receive a signal from the weight or fill sensor of thegrain cart indicating that the threshold weight or the threshold filldepth has been met. The grain cart controller determines (block 106) theroute to the agricultural product storage tank based at least in part onthe location of the grain cart and the location of the agriculturalproduct storage tank. The grain cart controller controls (block 108) thegrain cart (e.g., to move to the agricultural product storage tank)based at least in part on the route (from block 106) to the agriculturalproduct storage tank after the threshold weight or the threshold filldepth of the grain cart is met. The grain cart controller receives(block 110) a signal indicating that another grain cart is moving to theagricultural product storage tank from the combine. In some instances,the signal may be received after the grain cart has unloaded grain tothe agricultural product storage tank. The grain cart controller thendetermines (block 112) a future or expected position of the combinebased at least in part on the harvesting map for the combine (which mayinclude expected locations of the combine at various times, based atleast in part on the speed of the combine). In some embodiments, theexpected position of the combine may be determined based at least inpart on the location of the combine, the harvesting map for the combine,and a speed of the combine.

The grain cart controller determines (block 114) a route to the expectedposition of the combine (from block 112) based at least in part on theexpected position of the combine and the location of the grain cart. Thegrain cart controller controls (block 116) the grain cart (e.g., to moveto the expected position of the combine) based at least in part on theroute (from block 114) to the expected position of the combine (e.g.,after the signal indicating that the other grain cart is moving to theagricultural product storage tank from the combine is received).

While only certain features of the invention have been illustrated anddescribed herein, many modifications and changes will occur to thoseskilled in the art. It is, therefore, to be understood that the appendedclaims are intended to cover all such modifications and changes as fallwithin the true spirit of the invention.

The techniques presented and claimed herein are referenced and appliedto material objects and concrete examples of a practical nature thatdemonstrably improve the present technical field and, as such, are notabstract, intangible or purely theoretical. Further, if any claimsappended to the end of this specification contain one or more elementsdesignated as “means for [perform]ing [a function] . . . ” or “step for[perform]ing [a function] . . . ”, it is intended that such elements areto be interpreted under 35 U.S.C. 112(f). However, for any claimscontaining elements designated in any other manner, it is intended thatsuch elements are not to be interpreted under 35 U.S.C. 112(f).

1. A system for continuously conveying agricultural product, comprising:at least one autonomous grain cart configured to receive agriculturalproduct from an agricultural vehicle, wherein the agricultural vehiclecomprises a header configured to harvest the agricultural product from afield, wherein each autonomous grain cart of the at least one autonomousgrain cart has a width less than or equal to a distance from an end ofthe header of the agricultural vehicle to a lateral side of theagricultural vehicle, wherein the end and the lateral side are on a samelongitudinal side of a lateral centerline of the agricultural vehicle,wherein each autonomous grain cart of the at least one autonomous graincart comprises: a controller, comprising one or more processors and oneor more memory devices; a drive system communicatively coupled to thecontroller, wherein the controller is configured to instruct the drivesystem to propel the autonomous grain cart; and a steering systemcommunicatively coupled to the controller, wherein the controller isconfigured to instruct the steering system to steer the autonomous graincart.
 2. The system of claim 1, wherein each autonomous grain cartcomprises a location device communicatively coupled to the controller,wherein the location device is configured to determine a location of theautonomous grain cart.
 3. The system of claim 2, wherein the controllerof each autonomous grain cart is configured to determine an expectedlocation of the agricultural vehicle based at least in part on aharvesting map for the agricultural vehicle.
 4. The system of claim 3,wherein the harvesting map comprises expected locations of theagricultural vehicle at various times.
 5. The system of claim 3, whereinthe controller of each autonomous grain cart is configured to update theexpected location of the agricultural vehicle based at least in part onthe location of the agricultural vehicle, a speed of the agriculturalvehicle, or a combination thereof.
 6. The system of any of claim 3,wherein the controller of each autonomous grain cart is configured todetermine a route to the expected location of the agricultural vehiclebased at least in part on the expected location of the agriculturalvehicle and the location of the autonomous grain cart.
 7. The system ofclaim 6, wherein the controller of each autonomous grain cart isconfigured to update the route to the expected location of theagricultural vehicle based at least in part on a location of eachautonomous grain cart of the at least one autonomous grain cart, terrainalong the route, or a combination thereof.
 8. The system of claim 1,wherein each autonomous grain cart comprises a communication devicecommunicatively coupled to the controller, wherein the communicationdevice is configured to send signals to and receive signals from acorresponding communication device of another autonomous grain cart ofthe at least one autonomous grain cart.
 9. The system of claim 1,wherein each autonomous grain cart comprises a communication devicecommunicatively coupled to the controller, wherein the communicationdevice is configured to send signals to and receive signals from acommunication device of the agricultural vehicle.
 10. The system ofclaim 1, wherein each autonomous grain cart comprises one or moresensors communicatively coupled to the controller.
 11. An autonomousgrain cart, comprising: a width less than or equal to a distance from anend of a header of an agricultural vehicle to a lateral side of theagricultural vehicle, wherein the end and the lateral side are on a samelongitudinal side of a lateral centerline of the agricultural vehicle,wherein the autonomous grain cart is configured to receive grain fromthe agricultural vehicle; a controller, comprising a one or moreprocessors and one or more memory devices; a drive systemcommunicatively coupled to the controller, wherein the controller isconfigured to instruct the drive system to propel the autonomous graincart; and a steering system communicatively coupled to the controller,wherein the controller is configured to instruct the steering system tosteer the autonomous grain cart.
 12. The autonomous grain cart of claim11, comprising one or more sensors, wherein the one or more sensorscomprise: a terrain sensor configured to output a signal indicative ofat least one property of terrain proximate to the autonomous grain cart;a speed sensor configured to determine a speed of the autonomous graincart; a weight sensor configured to determine a weight of at least thegrain within the autonomous grain cart; a fill sensor configured todetermine a depth of the grain within the grain cart; or a combinationthereof.
 13. The autonomous grain cart of claim 11, comprising alocation device configured to determine a location of the autonomousgrain cart.
 14. The autonomous grain cart of claim 11, comprising acommunication device configured to send signals to and receive signalsfrom a corresponding communication device of another autonomous graincart.
 15. The autonomous grain cart of claim 11, comprising acommunication device configured to send signals to and receive signalsfrom a communication device of the agricultural vehicle.
 16. A systemfor continuously conveying agricultural product, comprising: anagricultural vehicle comprising a header configured to harvestagricultural product from a field; a plurality of autonomous graincarts, wherein each autonomous grain cart of the plurality of autonomousgrain carts has a width less than or equal to a distance from an end ofthe header of the agricultural vehicle to a lateral side of theagricultural vehicle, wherein the end and the lateral side are on a samelongitudinal side of a lateral centerline of the agricultural vehicle,wherein each autonomous grain cart of the plurality of autonomous graincarts comprises: a controller, comprising one or more processors and oneor more memory devices; a drive system communicatively coupled to thecontroller, wherein the controller is configured to instruct the drivesystem to propel the autonomous grain cart; and a steering systemcommunicatively coupled to the controller, wherein the controller isconfigured to instruct the steering system to steer the autonomous graincart; and an agricultural product storage tank configured to store theagricultural product; wherein each autonomous grain cart of theplurality of autonomous grain carts is configured to receive theagricultural product from the agricultural vehicle and deliver theagricultural product to the agricultural product storage tank.
 17. Thesystem of claim 16, wherein the controller of each autonomous grain cartis configured to determine a route to the agricultural product storagetank, based at least in part on a location of the autonomous grain cartand a location of the agricultural product storage tank.
 18. The systemof claim 17, wherein the controller of each autonomous grain cart isconfigured to update the route to the agricultural product storage tankbased at least in part on locations of each autonomous grain cart of theplurality of autonomous grain carts, terrain along the route, or acombination thereof.
 19. The system of claim 16, wherein the controllerof each autonomous grain cart is configured to position the autonomousgrain cart behind one or more other autonomous grain carts of theplurality of autonomous grain carts, wherein one of the one or moreother autonomous grain carts is in position to receive the agriculturalproduct from the agricultural vehicle.
 20. The system of claim 16,wherein the controller of each autonomous grain cart is configured toposition the autonomous grain cart behind one or more other autonomousgrain carts of the plurality of autonomous grain carts, wherein one ofthe one or more other autonomous grain carts is in position to deliverthe agricultural product to the agricultural product storage tank.